A judge agreed Monday to dismiss the charges against a couple arrested at the posh Soho Grand Hotel in May after they allegedly drunkenly dropped their toddler on the floor — provided they continue therapy for a year.

Kristian Jensen, 46, and his wife, Lauren, 37, both of Manhattan, didn’t not have to admit guilt as part of the agreement with prosecutors in Manhattan Criminal Court.

The duo were pounding drinks when the buzzed mom dropped the 2-year-old girl at around 6:30 pm May 17, police said.

Concerned hotel staff called the cops on the couple, who were celebrating Kristian’s birthday.

When cops showed up in the lobby and threatened to take the toddler away Lauren collapsed on the floor, and Kristian charged at the police, according to law-enforcement sources.

The Jensens were charged with resisting arrest, acting in a manner injurious to a child under 17 and obstructing governmental administration.

“We appreciate the decision by the district attorney’s office to dismiss this case,” said defense lawyer Alex Spiro.